AcTag: Opti-Acoustic Fiducial Markers for Underwater Localization and Mapping. - Kalin Norman; Daniel Butterfield; Joshua G. Mangelson (IROS, 2023)

MI-HGNN: Morphology-Informed Heterogeneous Graph Neural Network for Legged Robot Contact Perception. - Daniel Butterfield; Sandilya Sai Garimella; Nai-Jen Cheng; Lu Gan (CoRR, 2024)